WO2021155645A1

WO2021155645A1 - Novel anti-impact device and working method thereof

Info

Publication number: WO2021155645A1
Application number: PCT/CN2020/088982
Authority: WO
Inventors: 王成龙; 陈一方; 魏学谦; 王雪亭; 陈萌; 曾庆良
Original assignee: 山东科技大学
Priority date: 2020-02-05
Filing date: 2020-05-07
Publication date: 2021-08-12
Also published as: AU2020427613A1; CA3143583A1; US11535284B2; GB202212765D0; GB2617644A; CN111322345A; AU2020427613B2; CA3143583C; CN111322345B; US20220204060A1

Abstract

A novel anti-impact device and a working method thereof. The novel anti-impact device comprises, sequentially connected: a first connector, an upper outer cylinder (15), a lower outer cylinder (12) and a second connector. The top of the lower outer cylinder (12) is sleeved within the upper outer cylinder (15) so as to be movably connected to the upper outer cylinder (15); and an aluminum honeycomb (10) and a magnetorheological buffer outer cylinder (9) are arranged inside the lower outer cylinder (12). The aluminum honeycomb (10) is arranged at the bottom of a lower end cover (11), a piston rod (5) is arranged inside the magnetorheological buffer outer cylinder (9), the top end of the piston rod (5) extends out of an upper end cover (14) and is connected to an impact head (3), and a return spring (4) is sleeved on the piston rod (5) between the impact head (3) and the upper end cover (14); and an electromagnetic coil (7) is wound around the piston rod (5), the lower part of the piston rod (5) is a damping piston (8), on which a damping hole is provided, the bottom end of the damping piston (8) is provided with a guide plate (13), and the lower part of the guide plate (13) is filled with a magnetorheological fluid. The novel anti-impact device is mounted between two carriages of a tramcar, capable of preventing, when the speed of the rear carriage is greater than that of the front carriage or the front carriage is braked, the impact of the rear carriage to buffer and achieve effective deceleration, and buffering the subsequent carriages in the event of an accident to effectively prevent the secondary injury of the accident.

Description

A new type of anti-impact device and its working method

Technical field

The invention relates to a new type of anti-impact device and a working method thereof, in particular to an anti-impact buffer device used between the two carriages of a mine car, and belongs to the technical field of buffer devices.

Background technique

Mine cars are the main means of transportation in the production of inclined shafts in mines. Because the exit of the inclined shaft has a certain slope, the mine cars often slip back into the well or cause collisions between the cars due to abnormal reasons. In order to prevent accidents, the current In the production operation, each wellhead has been required to implement the protective measures of "one slope and three gears" to prevent accidents to a certain extent.

When the minecart is running on the roadway, it usually connects multiple carriages front and rear for operation. When the speed of the rear car is greater than the speed of the preceding car or the current car is braking, in order to prevent the impact of the following car, a buffer device needs to be installed between the two adjacent carriages. To buffer, achieve effective deceleration and prevent minecars from overspeeding.

Chinese patent document CN 104057974A discloses a self-locking mine car with a buffer zone. The mine car is composed of a frame, a carriage, a front mine wheel, a rear wheel, and a brake device. The lower part of the frame is provided with a front mine wheel and The rear mine wheel is equipped with a brake device. The upper part of the frame is equipped with a carriage, and a buffer rubber is arranged at the bottom of the carriage. The characteristic is that the buffer rubber can buffer large hard materials from smashing and damaging the bottom of the car. The effect is that it can brake on its own and can stand independently on a large-angle track. Its structure is simple and its practicability is strong.

For another example, Chinese Patent Document CN207550213U provides a bumper for a mine car vehicle, which includes a rectangular bumper, a cylindrical bumper, and a flange connected together from top to bottom; the flange is provided with a circumference, etc. The flange holes are spaced apart from each other, the flange holes are provided with a uniform number of square head bolts, the upper end of the coil spring is sleeved on the square head bolt, and the lower end is connected to the car body. The bumper of the mine car vehicle is equipped with a number of coil springs on the car body to ensure sufficient buffering when the mine car is stopped; at the same time, a cylindrical buffer body is set above the coil spring to buffer the coil spring. It also strengthens the buffering capacity; finally, a rectangular buffer body composed of multiple buffer pads is arranged above the cylindrical buffer body, which further improves the buffering performance, and the overall buffering performance is better than the buffer in the prior art.

After searching, most of the buffers currently used on mine carts are single-car brake buffers, which are used for braking or loss-proof buffering. No anti-collision buffer device used between carriages has been found. Therefore, it is necessary to provide a The anti-impact buffer device between the minecarts can ensure stable operation between the cars and avoid collision and damage between the cars.

Summary of the invention

In view of the shortcomings of the prior art, the present invention provides a new type of anti-impact device, which is installed between the front and rear carriages of the mine car. When the current speed of the rear carriage is inconsistent, it can effectively prevent the carriage from colliding and buffer the carriage. The effect of speed and impact strength.

The invention also provides a working method of the above-mentioned novel anti-impact device on a mining cart.

The technical scheme of the present invention is as follows:

A new type of anti-impact device, comprising a first connector, an upper outer cylinder, a lower outer cylinder and a second connector connected in sequence. The first connector is fixedly connected to the upper outer cylinder, and the second connector is fixedly connected to the lower outer cylinder. , The top of the lower outer cylinder is sleeved into the upper outer cylinder and is movably connected with the upper outer cylinder;

The lower outer cylinder is provided with an aluminum honeycomb and a magnetorheological buffer outer cylinder. The upper and lower ends of the magnetorheological buffer outer cylinder are respectively encapsulated by the upper end cover and the lower end cover. The aluminum honeycomb is arranged at the bottom of the lower end cover, and the magnetorheological buffer A piston rod is provided in the outer cylinder. The top end of the piston rod extends out of the upper end cover and is connected to the impact head. The piston rod between the impact head and the upper end cover is fitted with a return spring; the piston rod is wound with an electromagnetic coil, and the lower part of the piston rod is The damping piston is provided with a damping hole, the bottom end of the damping piston is provided with a guide plate and the guide plate is in contact with the inner wall of the outer cylinder of the magnetorheological buffer, and the magnetorheological fluid is filled under the guide plate.

Preferably, the first connecting head and the second connecting head are both provided with connecting pin holes. The advantage of this design is that it is convenient and quick to connect the two connectors between the two carriages with a pin.

Preferably, the first connecting head and the outer end cover of the upper outer cylinder, and the second connecting head and the outer end cover of the lower outer cylinder are all connected by bolts.

Preferably, a connecting ring is sleeved on the lower outer cylinder, and the top of the lower outer cylinder is provided with an outwardly extending flange to block the connecting ring, and the connecting ring is bolted to the bottom end of the upper outer cylinder. The advantage of this design is that the upper outer cylinder is fixedly connected with the connecting ring, and the connecting ring can slide the upper outer cylinder back and forth on the lower outer cylinder to achieve buffering.

Preferably, the upper end cover, the lower end cover and the outer cylinder of the magnetorheological buffer are connected by bolts.

Preferably, a baffle is provided at the top of the lower outer cylinder, and the baffle prevents the magnetorheological buffer outer cylinder from sliding out of the lower outer cylinder.

Preferably, the baffle is bolted to the top end of the lower outer cylinder.

Preferably, the piston rod is a stepped rod, the piston rod includes a convex part, the electromagnetic coil is wound on the convex part, the convex part contacts the inner wall of the outer cylinder of the magnetorheological damper, and the damping piston is provided with a cavity with an open bottom end, The orifice communicates with the cavity.

Preferably, the guide plate and the bottom end of the damping piston are fixedly connected by a nut.

Preferably, the ram is threadedly connected with the top end of the piston rod.

Preferably, the aluminum honeycomb is cylindrical. The advantage of this design is that the aluminum honeycomb is a crushing device. The initial value of the device's pressure is the limit value of the magnetorheological buffer. When the magnetorheological buffer fails, it will buffer and absorb energy as the last.

A new type of anti-impact device is applied between the two carriages of the mine car. The new type of anti-impact device is connected between the two carriages of the mine. The working method includes the following steps:

A minecart ascending stage

When the speed of the front car is greater than the speed of the following car, the upper outer cylinder pulls the lower outer cylinder upwards, the piston rod is in the extended state, and the outer cylinder of the magnetorheological buffer is filled with magnetorheological fluid. No impact, the new anti-impact device does not work;

When the speed of the front car is lower than the speed of the following car, the speed sensor on the mine car detects the signal through the fuzzy controller to generate the desired damping control force while the speed of the car changes. The rod then pushes the damping piston to move. The damping piston consumes energy through the magnetorheological fluid damping force and the fluid damping generated by the orifice and the magnetorheological fluid, and the new anti-shock device acts in advance;

B minecart down stage

When the speed of the front car is greater than the speed of the following car, the lower outer cylinder pulls the upper outer cylinder down, the piston rod is in the extended state, and the outer cylinder of the magnetorheological buffer is filled with magnetorheological fluid. No impact, the new anti-impact device does not work;

C mine car accident stage

When the mine car is overspeeding or even an accident is intercepted by the barrier, the speed sensor on the mine car detects the signal, and uses the generated speed change e and acceleration change ec as the input of the fuzzy controller, and the new anti-shock device outputs in advance The damping force is expected. The ram is hit and the piston rod moves. The damping piston consumes energy through the magnetorheological fluid damping force and the orifice and the fluid damping produced by the magnetorheological fluid. The new anti-shock device buffers and prevents subsequent vehicles from causing secondary damage. Damage; when the impact force causes the buffer limit of the magnetorheological buffer, the aluminum honeycomb crushing device performs the final buffer protection.

The beneficial effects of the present invention are:

1) The anti-impact device of the present invention is installed between the two carriages of the mine car. When the speed of the following car is greater than the speed of the preceding car or the current car is braking, it prevents the impact of the following car to buffer, achieve effective deceleration, and prevent the mine car from overspeeding; In the event of an accident, the subsequent compartments will be buffered to effectively prevent secondary injuries from the accident.

2) The anti-shock device of the present invention is connected and controlled by a two-dimensional fuzzy controller. When an accident occurs when the mine car is overspeed, the sensor can output the corresponding intensity current in advance to control the corresponding damping force. The anti-shock device enters the buffer state in advance to effectively realize the buffer.

3) The anti-shock device of the present invention effectively guarantees the safety of the mine car through the multi-stage buffer of the magnetorheological buffer and the crush tube; the energy-consuming structure of the anti-shock device is buffered by the magnetic circuit and the orifice, the former is controlled by the negative feedback control system The current intensity is dynamically controlled to output the damping force, and semi-active control is applied. The damping force of the latter is controlled by the relative speed of the piston rod and the outer cylinder, which is a passive control.

4) The anti-impact device of the present invention is connected and controlled by a two-dimensional fuzzy controller. The two-dimensional fuzzy controller outputs currents of different intensities to control the damping force and increase its adaptability.

Description of the drawings

Figure 1 is a front view of the anti-impact device of the present invention;

Figure 2 is a cross-sectional view of the anti-impact device of the present invention;

Figure 3 is a left cross-sectional view of the anti-impact device of the present invention;

4 is a schematic diagram of the crushed structure of the aluminum honeycomb in the present invention;

Figure 5 is a schematic diagram of the fuzzy controller in the present invention;

Figure 6 is a graph of the distribution curve of input and output membership functions;

Among them: 1-connecting pin hole (connected between the two carriages with a pin); 2-outer end cover; 3-bumping head; 4-return spring; 5-piston rod; 6-connecting ring; 7-electromagnetic coil; 8- Damping piston (including damping holes); 9-Magnetorheological buffer outer cylinder; 10-aluminum honeycomb; 11-lower end cover; 12-lower outer cylinder; 13-guide plate; 14-upper end cover; 15-upper outer cylinder ; 16-Baffle plate.

Detailed ways

Hereinafter, the present invention will be further described through the embodiments in combination with the drawings, but it is not limited thereto.

Example 1:

As shown in Figures 1 to 4, this embodiment provides a new type of anti-impact device, which includes a first connector, an upper outer cylinder 15, a lower outer cylinder 12, and a second connector connected in sequence. The first connector is connected to the upper The outer tube 15 is fixedly connected, the second connecting head is fixedly connected to the lower outer tube 12, and the top of the lower outer tube 12 is sleeved into the upper outer tube 15 and movably connected to the upper outer tube 15;

The lower outer cylinder 12 is provided with an aluminum honeycomb 10 and a magnetorheological buffer outer cylinder 9. The upper and lower ends of the magnetorheological buffer outer cylinder 9 are respectively encapsulated by an upper end cover 14 and a lower end cover 11, and the aluminum honeycomb 10 is arranged on the lower end cover At the bottom of 11, there is a piston rod 5 in the outer cylinder 9 of the magnetorheological shock absorber. The top end of the piston rod 5 extends out of the upper end cover 14 and is connected to the ram 3. The piston rod between the ram 3 and the upper end cover 14 is covered with a return spring. 4; An electromagnetic coil 7 is wound on the piston rod 5. The lower part of the piston rod is a damping piston 8 and the damping piston is provided with a damping hole. The bottom end of the damping piston 8 is provided with a guide plate 13 and a guide plate 13 and magnetorheological buffer The inner wall of the outer cylinder of the device is in contact, and the guide plate 13 is filled with magnetorheological fluid.

Specifically, the first connecting head and the second connecting head have the same structure, and both are provided with connecting pin holes. When in use, the two connecting heads are connected between the two carriages with a bolt, which is quick and convenient to install. The first connecting head and the outer end cover 2 of the upper outer cylinder 15 and the second connecting head and the outer end cover of the lower outer cylinder 12 are all connected by bolts. The outer end cap 2 of the upper outer cylinder and the upper outer cylinder 15 are an integral structure, and the outer end cap of the lower outer cylinder and the lower outer cylinder 12 are an integral structure. The bosses are fixedly connected together by bolts.

The lower outer cylinder 12 is sleeved with a connecting ring 6, and the top of the lower outer cylinder 12 is provided with a convex edge extending outwards. The convex edge blocks the connecting ring 6, that is, the inner diameter of the connecting ring 6 is smaller than the outer diameter of the convex edge. The bottom end of the outer cylinder 15 is connected by bolts. The upper outer cylinder 15 is fixedly connected with the connecting ring 6 to ensure that the upper outer cylinder 15 and the lower outer cylinder 12 are not separated during the buffering process. The connecting ring 6 can slide the upper outer cylinder 15 back and forth on the lower outer cylinder 12 to achieve buffering.

The upper end cover 14, the lower end cover 11 and the magnetorheological buffer outer cylinder 9 are all connected by bolts. A baffle 16 is installed at the top of the lower outer cylinder 12 by bolts, and the baffle 16 prevents the magnetorheological buffer outer cylinder 9 from sliding out of the lower outer cylinder 12.

The piston rod 5 is a stepped rod. The piston rod includes a convex part. The electromagnetic coil 7 is wound on the convex part. The convex part contacts the inner wall of the magnetorheological buffer outer cylinder 9; The rod 5 is integrally manufactured, the damping piston 8 is provided with a cavity with an open bottom end, and the damping hole is connected to the cavity. Through the cavity and the orifice, the magnetorheological fluid under the guide plate can realize circulation buffering. An elongated hole is opened inside the piston rod 5, and the wire connected to the electromagnetic coil 7 runs through the elongated hole.

The bottom end of the damping piston 8 is provided with threads, and the bottom end of the damping piston 8 passes through the center of the guide plate 13 and the guide plate 13 is fixedly installed with a nut.

The ram 3 is threadedly connected with the top end of the piston rod 5. When the upper outer cylinder 15 and the lower outer cylinder 12 slide relatively, the ram 3 is hit by the upper outer cylinder 15, and the piston rod 5 is displaced to realize buffering. The reset spring 4 resets the new anti-impact device after the buffering is completed.

The aluminum honeycomb 10 is cylindrical and placed at the bottom of the outer cylinder 9 of the magnetorheological buffer. The aluminum honeycomb 10 is a crushing device. When the device fails, it will be the last buffer to absorb energy.

In this embodiment, the new type of anti-impact device is installed on both sides and the middle of the carriage using bolt connections, and three are installed in every two carriages. The front end of the vehicle can be installed on the front end of the front end of the front end of the front end of the front of the front of the front of the front of the front of the front of the front of the front of the front of the vehicle with buffers and reduce damage to the buffering device.

Example 2:

A new type of anti-impact device is applied to the working method between the two carriages of the mine car. The new anti-impact device described in Example 1 is connected between the two carriages of the mine car, that is, the first connector and the first joint are connected by a bolt. The two connecting heads are connected with two adjacent carriages, and then the anti-impact device and the speed sensor on the mine car are connected with a two-dimensional fuzzy controller to form a buffer control system. The working method of the new anti-impact device includes the following step:

A minecart ascending stage

When the speed of the front car is greater than the speed of the following car, the upper outer cylinder 15 pulls the lower outer cylinder 12 upwards, the piston rod 5 is in the extended state, and the magnetorheological buffer outer cylinder 9 is filled with magnetorheological fluid. At this time, the electromagnetic coil 7 is energized. State, but the head 3 has not been impacted, and the new anti-impact device does not work;

When the speed of the front car is lower than the speed of the following car, the speed sensor on the mine car detects the signal through the fuzzy controller to generate the desired damping control force while the speed of the car changes. The piston rod 5 then pushes the damping piston 8 to move. The damping piston 8 consumes energy through the magnetorheological fluid damping force and the orifice and the fluid damping generated by the magnetorheological fluid, and the new anti-shock device acts in advance;

B minecart down stage

When the speed of the front vehicle is greater than the speed of the following vehicle, the lower outer cylinder 12 pulls the upper outer cylinder 15 down, the piston rod 5 is in the extended state, the magnetorheological buffer outer cylinder 9 is filled with magnetorheological fluid, and the solenoid 7 is now energized State, but the head 3 has not been impacted, and the new anti-impact device does not work;

C mine car accident stage

When a mine car is overspeeding or even an accident is intercepted by a car barrier, the speed sensor on the mine car detects the signal and will produce the speed change e (the difference between the expected speed and the actual speed) and the acceleration change ec (the desired car acceleration The difference between the acceleration and the actual vehicle acceleration) is used as the input of the fuzzy controller. The new anti-impact device outputs the expected damping force in advance. The fluid damping generated by the rheological fluid consumes energy together, and the new anti-impact device buffers to prevent secondary damage to subsequent vehicles; when the impact force causes the buffer limit of the magnetorheological buffer, the aluminum honeycomb 10 crush device performs the final buffer protection.

The principle of the fuzzy controller provided in this embodiment is shown in Figure 5. When the vehicle is running, the sensor detects the signal to produce the speed change e (the difference between the expected vehicle speed and the actual vehicle speed) and the acceleration change ec (the expected vehicle acceleration and The difference between actual vehicle acceleration) is used as the input of the fuzzy controller, and the input is scaled by a certain ratio according to the selected ke, kec quantization factor, and then mapped from the physical theory domain to the fuzzy theory domain, and the membership degree is input through the fuzzy controller Function fuzzification: Fuzzy reasoning is carried out according to the established fuzzy rules. The fuzzy reasoning method adopts the commonly used Mamdani type. The output membership function is defuzzified, and the area bisector method is selected for defuzzification to obtain the accurate output, and then pass a certain proportional coefficient. The expected damping force is obtained after scaling ku.

The process of fuzzification is as follows:

In the fuzzy controller, the difference between the reference expected value, the speed of the vehicle body and the acceleration of the vehicle body is selected as two input variables, and the desired damping control force is selected as the output variable. The input variables v and a are set to 7 language subsets: NB (large negative), NM (negative medium), NS (small negative), ZE (zero), PS (small positive), PM (positive middle), PB ( Zhengda), the universe of discourse is limited to [-1,1], the input membership functions are all triangular functions, and the membership functions are shown in Figure 6. For the convenience of calculation, the output variable adopts the membership function consistent with the input variable. The actual variation range of the input and output variables is determined by the corresponding quantization factors ke, kec, and scale factor ku, respectively.

The method of fuzzy inference is as follows:

Fuzzy reasoning is to perform inference operations through fuzzy rules. According to the working characteristics of the new anti-impact device when the mine car is running, the following principles are used when designing the corresponding fuzzy rules:

(1) When |e| is in a large state, the error between the vehicle speed and the expected vehicle speed is relatively large at this time, and a relatively large current should be output to generate a relatively large damping force.

When |e| is in a medium-sized state, the vehicle speed error is medium at this time, and a medium-sized current should be output to produce a medium-sized damping force.

When |e| is in a small state, the vehicle speed error is small at this time, and a small current or no current should be output, resulting in a small damping force.

According to the analysis of the vehicle process, when the error is large, the fuzzy controller should choose a large output control quantity to eliminate the error as soon as possible. When the error is small, a small output control value should be selected to avoid overshoot. Therefore, in accordance with the "If-and-Then" adjustment principle, the corresponding fuzzy control rules are shown in Table 1.

The rule "If e NS and ec is PB, Then u is PM" can be interpreted as follows: When the error e is relatively small, the vehicle speed is not much different from the expected value, and the positive error value change rate ec indicates that the vehicle speed is fast The ground is close to the reference value, but the body acceleration is still large, so the controller should output a median value to prevent overshoot and suppress the increase in body acceleration. Other control rules are similar to the above.

Table 1 Fuzzy control rules

The process of defuzzification:

The process of defuzzification is the mapping process of finding a clear value instead of the output fuzzy value. After fuzzy inference, a graph surrounded by a part of the output membership function and the coordinate axis will generally be obtained. According to the obtained figure, the area center method is used to defuzzify.

Claims

A new type of anti-impact device, which is characterized in that it comprises a first connector, an upper outer cylinder, a lower outer cylinder and a second connector connected in sequence. The first connector is fixedly connected to the upper outer cylinder, and the second connector is connected to the lower The outer cylinder is fixedly connected, and the top of the lower outer cylinder is sleeved into the upper outer cylinder and is movably connected with the upper outer cylinder;

The lower outer cylinder is provided with an aluminum honeycomb and a magnetorheological buffer outer cylinder. The upper and lower ends of the magnetorheological buffer outer cylinder are respectively encapsulated by the upper end cover and the lower end cover. The aluminum honeycomb is arranged at the bottom of the lower end cover, and the magnetorheological buffer A piston rod is provided in the outer cylinder. The top end of the piston rod extends out of the upper end cover and is connected to the impact head. The piston rod between the impact head and the upper end cover is fitted with a return spring; the piston rod is wound with an electromagnetic coil, and the lower part of the piston rod is The damping piston is provided with a damping hole, the bottom end of the damping piston is provided with a guide plate and the guide plate is in contact with the inner wall of the outer cylinder of the magnetorheological buffer, and the magnetorheological fluid is filled under the guide plate.
The novel anti-impact device according to claim 1, wherein the first connecting head and the second connecting head are both provided with connecting pin holes.
The new anti-impact device according to claim 1, characterized in that, bolts are passed between the first connecting head and the outer end cover of the upper outer cylinder, and between the second connecting head and the outer end cover of the lower outer cylinder. connect.
The new anti-impact device according to claim 1, wherein a connecting ring is sleeved on the lower outer cylinder, and the top of the lower outer cylinder is provided with an outwardly extending convex edge, the convex edge blocking the connecting ring, and the connecting ring and The bottom end of the upper outer cylinder is bolted.
The novel anti-impact device according to claim 1, wherein the upper end cover, the lower end cover and the outer cylinder of the magnetorheological buffer are connected by bolts.
The novel anti-impact device according to claim 1, wherein a baffle is provided at the top of the lower outer cylinder, and the baffle prevents the magnetorheological buffer outer cylinder from sliding out of the lower outer cylinder.
The new anti-impact device according to claim 6, wherein the baffle is bolted to the top end of the lower outer cylinder.
The new anti-impact device according to claim 1, wherein the piston rod is a stepped rod, the piston rod includes a convex part, the electromagnetic coil is wound on the convex part, and the convex part is connected with the inner wall of the outer cylinder of the magnetorheological buffer In contact, the damping piston is provided with a cavity with an open bottom end, and the damping hole is connected to the cavity.
The novel anti-impact device according to claim 1, wherein the guide plate and the bottom end of the damping piston are fixedly connected by a nut.
A working method in which the new anti-impact device according to any one of claims 1-9 is applied between two carriages of a mine car, and the working method of connecting the new anti-impact device between the two carriages of a mine car It includes the following steps:

A minecart ascending stage

When the speed of the front car is greater than the speed of the following car, the upper outer cylinder pulls the lower outer cylinder upwards, the piston rod is in the extended state, and the outer cylinder of the magnetorheological buffer is filled with magnetorheological fluid. No impact, the new anti-impact device does not work;

When the speed of the front car is lower than the speed of the following car, the speed sensor on the mine car detects the signal through the fuzzy controller to generate the desired damping control force while the speed of the car changes. The rod then pushes the damping piston to move. The damping piston consumes energy through the magnetorheological fluid damping force and the fluid damping generated by the orifice and the magnetorheological fluid, and the new anti-shock device acts in advance;

B minecart down stage

When the speed of the front car is greater than the speed of the following car, the lower outer cylinder pulls the upper outer cylinder down, the piston rod is in the extended state, and the outer cylinder of the magnetorheological buffer is filled with magnetorheological fluid. No impact, the new anti-impact device does not work;

When the speed of the front car is lower than the speed of the following car, the speed sensor on the mine car detects the signal through the fuzzy controller to generate the desired damping control force while the speed of the car changes. The rod then pushes the damping piston to move. The damping piston consumes energy through the magnetorheological fluid damping force and the fluid damping generated by the orifice and the magnetorheological fluid, and the new anti-shock device acts in advance;

C mine car accident stage

When the mine car is overspeeding or even an accident is intercepted by the barrier, the speed sensor on the mine car detects the signal, and uses the generated speed change e and acceleration change ec as the input of the fuzzy controller, and the new anti-shock device outputs in advance The damping force is expected. The ram is hit and the piston rod moves. The damping piston consumes energy through the magnetorheological fluid damping force and the orifice and the fluid damping produced by the magnetorheological fluid. The new anti-shock device buffers and prevents subsequent vehicles from causing secondary damage. Damage; when the impact force causes the buffer limit of the magnetorheological buffer, the aluminum honeycomb crushing device performs the final buffer protection.